EP0073687A1 - Automatic tool changing apparatus for machine tools - Google Patents

Automatic tool changing apparatus for machine tools Download PDF

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Publication number
EP0073687A1
EP0073687A1 EP82401223A EP82401223A EP0073687A1 EP 0073687 A1 EP0073687 A1 EP 0073687A1 EP 82401223 A EP82401223 A EP 82401223A EP 82401223 A EP82401223 A EP 82401223A EP 0073687 A1 EP0073687 A1 EP 0073687A1
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EP
European Patent Office
Prior art keywords
tool
spindle
arm
clamp
axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP82401223A
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German (de)
French (fr)
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EP0073687B1 (en
Inventor
Michel Sachot
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Centre dEtudes du Fraisage
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Centre dEtudes du Fraisage
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Publication date
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Priority to AT82401223T priority Critical patent/ATE12601T1/en
Publication of EP0073687A1 publication Critical patent/EP0073687A1/en
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Publication of EP0073687B1 publication Critical patent/EP0073687B1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
    • B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle

Definitions

  • Modern machine tools are often associated with an automatic tool change device generally comprising a magazine, placed in the immediate vicinity of the machine, and a gripper system, carried by the machine and arranged to be able to grip a tool holder, extract it from the spindle and place it in a cell in the magazine or perform the reverse operation.
  • an automatic tool change device generally comprising a magazine, placed in the immediate vicinity of the machine, and a gripper system, carried by the machine and arranged to be able to grip a tool holder, extract it from the spindle and place it in a cell in the magazine or perform the reverse operation.
  • the pliers are double, one of its branches extracting a tool holder while the other is already provided with the replacement tool holder, a 180 ° rotation of the pliers holder shaft allowing immediately proceed to the replacement operation.
  • Some devices operate the extraction of the tool by a displacement of a straight pliers parallel to the spindle axis, other devices operate this extraction by rotation of the pliers support arm along an axis parallel to the spindle.
  • the transfer to the store is often carried out by rotation of the arm.
  • the transfer is carried out by a set of very complex rotations and translations which results in the precision of several gripper arms each animated by movements. translation in two perpendicular directions and a rotational movement.
  • the subject of the present invention is a device for automatic change of production tools which is much simpler and more efficient, and which makes it possible to maintain free access to the active part of the machine.
  • the device according to the invention is characterized in that it comprises a single gripper arm whose axis of rotation is mounted on a sliding carriage on a fixed support in a horizontal direction perpendicular to the axis, the introduction and / or the extraction of the tool in the spindle on the one hand and in the magazine on the other hand being done by rotations of in opposite directions, and the carriage being placed so that all of the gripper movements take place in a single vertical plane.
  • the sequence of extraction movements of the device of the invention is a horizontal translation until engagement of the pliers on the tool holder, a rotation of the arm downwards to disengage the tool holder from the spindle, then a backward translation of the carriage followed by an opposite rotation of the arm until the tool holder is brought back to a vertical position in a cell in the magazine, 'finally a release translation of the clamp; the sequence of tool taking movements in the magazine and positioning in the spindle is the opposite sequence.
  • the distance between the magazine loading station and the spindle axis in the changing position is substantially equal to twice the length of the gripper arm plus the translation travel of the carriage arms.
  • the device is particularly designed for a machine in which the spindle head 1 is mounted on a carriage 2 sliding horizontally by the slides 3 on a console 4 itself sliding vertically on an upright or side frame 5, the assembly being placed in front of the table 6.
  • the automatic tool change device of the invention is intended to operate on a spindle in the vertical position, tool down.
  • the position of the plane 11 is preferably chosen so as to contain the axis of the spindle 12 in the vertical position when the carriage 2 is at the end of the rear stroke, said carriage coming to stall in this position for the operation of changing tool.
  • the gripper arm 9 is pivotally mounted around the horizontal axis 13 perpendicular to the plane 11 and the axis 13 is itself mounted on a carriage 14 which slides horizontally and parallel to the plane 11 on a fixed support 26, approximately at level taken up by the collar 16 of the tool holder 15 when the spindle 12 is in the vertical position downwards.
  • a magazine 17 formed to present the tool holders 15 to a changing station 18 in which the axis of the tool holder is vertical, the tool upwards, the cone 19 downwards and the flange 16 at the level of the horizontal translation of the clamp 10.
  • the arm length separating the clamp 10 from the axis 13 is chosen in correlation with the angle of the cone 19 of the tool holder 15 so that the tool holder penetrates without friction into the spindle 12 of the machine and / or in the store box 17 located at location 18. This condition imposes a minimum length which can be exceeded.
  • the magazine 17 has the shape of a circular plate, rotatable about a vertical axis 20, and carrying at its periphery cells 21 intended to receive the tool holders 15.
  • the magazine can be produced in the form of a chain, the links of which carry the cells 21.
  • the variant in the form of a turntable is suitable for a magazine which can contain up to 30 - 40 tools; beyond this number and in particular for a magazine of the order of 100 tools or more, the chain-shaped variant (known per se and not shown) is preferable in order to limit the size.
  • the rotation of the arm 9 transports the tool holder 15 into the cell 18 of the magazine 17 (FIG. 3, dotted line and FIG. 4) (rotation of 180 °).
  • the arm 9 undergoes the reverse movement sequence, from FIG. 5 to FIG. 1, then taking the waiting position in FIG. 6 .
  • the arm 9 carries only a single clamp 10. But it goes without saying that the arm 9 can be articulated at its center on the axis 13 and carry two opposite clamps 10. In this case, two movements of translation of the carriage 13 will be provided on either side of the main position of rotation of FIG. 3.
  • the same members have the same reference numbers as in FIGS. 1 to 6.
  • the arm 9 is articulated at 13 at its center and carries two clamps 10a, 10b symmetrical with respect to the axis 13.
  • the translation of the arm 9 occupies three main positions, one towards the spindle 12 corresponding to the positioning and removal of the tools, the other towards the magazine 17 for depositing and taking up tools, and a central position of 180 ° rotation. In the two extreme positions, the arm 9 is subjected to the rotation necessary for disengaging the tool from the spindle or from the magazine.
  • FIGS. 7 and 8 makes it possible to reduce the tool change time.
  • branches of the arm 9 carrying the clamps 10a and 10b are not necessarily symmetrical with respect to the axis 13 and can be arranged like the branches of a more or less open V, or even of a Y if the arm 9 has three branches.
  • the shape of the clamp 10 is complementary to the profile of the collar 16 and the clamp 10 comprises an elastic or controlled means (for example electrically or hydraulically) not shown, ensuring the clamping of the clamp 10 on the collar 16 during the handling of the tools as well as the automatic loosening when the tool is clamped in the spindle 12 or deposited at the station 18 of the magazine 17.
  • the spindle holder head 1 comprises a means for positioning the tool holders 15 in a constant orientation relative to the pliers 10 so as to allow the introduction of the drive strips 22 of the spindle 12 into notches 23 provided on the flanges 16.
  • a protuberance 24, interacting with one of the notches 23, is provided on the clamp 10 for the conservation of this orientation during the transfer.
  • the cells 21 of the magazine have a shape adapted to the cone 19 of the tool holders.
  • the magazine can be loaded manually.
  • Each cell 21 further comprises a fixed element 25 (FIG. 1) similar to the lardons 22 which makes it impossible to introduce a tool holder 15 into the magazine in an orientation other than that corresponding to. the orientation of the spindle 12 in the loading position.
  • the rotational and translational movements of the arm 9 are provided by any appropriate means, in particular hydraulic.
  • These movements are preferably controlled as part of a digital control system, and the sequencing of the movements necessary for tool change is preferably controlled by the automatic programming device which manages the other functions of the machine.
  • the machine itself can be of a very diverse type as long as it has a vertical pin position 12 allowing the device of the invention to be adapted.
  • the head 1 can be orientable or not, the carriage 2 slide on a fixed frame or on a vertically movable console etc.
  • the plane 11, shown in the example described, parallel to the axis of the table, can be arranged obliquely so as to move the magazine 17 away from the table.
  • the translation of the carriage 14 can be provided oblique to the horizontal provided that the clamp system allows an obliquity in the gripping operation of the flange 16 of the tool holder.

Abstract

1. Device for automatic change of the tool-holder (15) for a machine-tool comprising a tool-holding head mounted on a first horizontally slidable carriage (2) and having a vertical spindle position of the type in which the release from the spindle (12) and the transfer of the tool-holder (15) is made by means of a rotation of tongs-carrying members about a horizontal axis (13) and of a translation of the axis between the spindle (12) and the magazine (17), the introduction and/or the extraction of the tool-holder (15) into the spindle on one part and into the magazine on the other part being made by means of rotations in opposite directions, characterized in that this device comprises a single arm (9) carrying tongs (10), the rotation axis (13) of said arm being mounted on a second carriage (14) slidable on a stationary support (26) along a horizontal direction perpendicular to the axis (13) so that all the movements of the tongs take place in a single vertical plane (11).

Description

Les machines-outils modernes sont souvent associées avec un dispositif de changement automatique d'outil comprenant généralement un magasin, placé au voisinage immédiat de la machine, et un système de pinces, porté par la machine et agencé pour pouvoir saisir un porte-outil, l'extraire de la broche et le déposer dans une alvéole du magasin ou réaliser l'opération inverse.Modern machine tools are often associated with an automatic tool change device generally comprising a magazine, placed in the immediate vicinity of the machine, and a gripper system, carried by the machine and arranged to be able to grip a tool holder, extract it from the spindle and place it in a cell in the magazine or perform the reverse operation.

Dans certains de ces dispositifs, la pince est double, l'une de ses branches extrayant un porte-outil alors que l'autre est déjà munie du porte-outil de remplacement, une rotation de 180° de l'arbre porte-pince permettant de passer immédiatement à l'opération de remplacement.In some of these devices, the pliers are double, one of its branches extracting a tool holder while the other is already provided with the replacement tool holder, a 180 ° rotation of the pliers holder shaft allowing immediately proceed to the replacement operation.

Certains appareils opèrent l'extraction de l'outil par un déplacement de pince rectiligne parallèlement à l'axe de broche, d'autres appareils opèrent cette extraction par rotation de bras porte-pince selon un axe parallèle à la broche. Dans le premier cas, après extraction, le transfert au magasin est souvent exécuté par rotation du bras. Dans le second cas, le transfert est exécuté par un jeu de rotations et de translations très complexes qui entraîne la précision de plusieurs bras porte-pinces animés chacun de mouvements de. translation dans deux directions perpendiculaires et d'un mouvement de rotation.Some devices operate the extraction of the tool by a displacement of a straight pliers parallel to the spindle axis, other devices operate this extraction by rotation of the pliers support arm along an axis parallel to the spindle. In the first case, after extraction, the transfer to the store is often carried out by rotation of the arm. In the second case, the transfer is carried out by a set of very complex rotations and translations which results in the precision of several gripper arms each animated by movements. translation in two perpendicular directions and a rotational movement.

Un tel dispositif est décrit au brevet U,S.A, Anderson 3.932.924 et au brevet français 1.507,373. Selon ces brevets, les deux bras porte-pinces sont montés rotatifs sur des chariots qui coulissent sur des supports, lesquels coulissent eux-mêmes en direction perpendiculaire, et les opérations d'extraction et de mise en place d'un outil sont réalisées par un bras, l'autre ayant la fonction de prise d'outil dans le magasin et d'insertion de l'outil dans la broche.Such a device is described in patent U, S.A, Anderson 3,932,924 and in French patent 1,507,373. According to these patents, the two gripper arms are rotatably mounted on carriages which slide on supports, which themselves slide in a perpendicular direction, and the operations of extracting and placing a tool are carried out by a arm, the other having the function of taking the tool from the magazine and inserting the tool into the spindle.

L'inconvénient que présente nombre de ces dispositifs est leur complexité, leur éncombrement et la nécessité de les placer à proximité ou sur le chariot ou support de la broche, ce qui rend pratiquement inaccessible l'un des côtés de la machine; lorsque l'autre côté de la machine est déjà occupé, comme c'est le cas lorsque la broche est montée sur un chariot coulissant horizontalement sur une console coulissant elle-même verticalement sur un montat fixe latéral, il en résulte une grande incommodité de travail pour l'opérateur qui doit surveiller et commander la machine, ou contrôler la bonne exécution de ses opérations.The drawback that many of these devices have is their complexity, their size and the need to place them near or on the carriage or support of the spindle, which makes one of the sides of the machine practically inaccessible; when the other side of the machine is already occupied, as is the case when the spindle is mounted on a carriage sliding horizontally on a console itself sliding vertically on a fixed side mount, this results in a great inconvenience of work for the operator who must monitor and control the machine, or control the proper execution of its operations.

Si, pour éviter cet inconvénient, on place le magasin du même côté que le montant de la ma.chine, la distance entre magasin et broche devient importante et le transfert des outils entraîne des complications de réalisation qui obèrent le prix de la machine. •If, to avoid this inconvenience, the magazine is placed on the same side as the amount of the machine, the distance between magazine and spindle becomes significant and the transfer of the tools leads to production complications which affect the price of the machine. •

La présente invention a pour objet un dispositif de changement automatique d'outils de réalisation beaucoup plus simple et efficace, et permettant de conserver le libre accès à la partie active de la machine.The subject of the present invention is a device for automatic change of production tools which is much simpler and more efficient, and which makes it possible to maintain free access to the active part of the machine.

Le dispositif selon l'invention est caractérisé en ce qu'il comprend un seul bras porte-pinces dont l'axe de rotation est monté sur un chariot coulissant sur un support fixe selon une direction horizontale perpendiculaire à l'axe, l'introduction et/ou l'extraction de l'outil dans la broche d'une part et dans le magasin d'autre part se faisant par rotations de de sens inverses, et le chariot étant placé de telle sorte que l'ensemble des mouvements de pince se fait dans un seul plan vertical.The device according to the invention is characterized in that it comprises a single gripper arm whose axis of rotation is mounted on a sliding carriage on a fixed support in a horizontal direction perpendicular to the axis, the introduction and / or the extraction of the tool in the spindle on the one hand and in the magazine on the other hand being done by rotations of in opposite directions, and the carriage being placed so that all of the gripper movements take place in a single vertical plane.

L'opération de changement d oûtil étant exécutée sur la broche en position verticale vers le bas, la séquence des mouvements d'extraction du dispositif de l'invention est une translation horizontale jusqu'à engagement de la pince sur le porte-outil, une rotation du bras vers le bas pour dégager le porte-outil de la broche, puis une translation de recul du chariot suivie d'une rotation en sens inverse du bras jusqu'à ramener le porte-outil en position verticale dans une alvéole du magasin,'enfin une translation de dégagement de la pince ; la séquence des mouvements de prise d'outil dans le magasin et de mise en place dans la broche est la séquence contraire.The operation of changing the eye being carried out on the spindle in a vertical downward position, the sequence of extraction movements of the device of the invention is a horizontal translation until engagement of the pliers on the tool holder, a rotation of the arm downwards to disengage the tool holder from the spindle, then a backward translation of the carriage followed by an opposite rotation of the arm until the tool holder is brought back to a vertical position in a cell in the magazine, 'finally a release translation of the clamp; the sequence of tool taking movements in the magazine and positioning in the spindle is the opposite sequence.

Selon une disposition de l'invention, la distance entre le poste de chargement du magasin et l'axe de broche en position de changement est sensiblement égale au double de la longueur du bras porte-pinces additionnée de la course de translation du chariot porte-bras.According to an arrangement of the invention, the distance between the magazine loading station and the spindle axis in the changing position is substantially equal to twice the length of the gripper arm plus the translation travel of the carriage arms.

L'invention est décrite ci-après avec dessin annexé sur lequel on a représenté un exemple de réalisation. Sur ce dessin ;

  • Les figures 1, 2 et 3 sont des vues de face illustrant schématiquement une machine munie d'un dispositif selon l'invention dans la succession des positions d'extraction ou d'introduction d'outil ;
  • La figure 4 est une vue de dessus de la même machine avec le changeur automatique dans la position représentée en pointillé figure 3 ;
  • Les figures 5 et 6 sont des vues de face illustrant les positions du dispositif lorsque la pince est vide ;
  • Les figures 7 et 8 sont des vues de face et de dessus illustrant une variante dans laquelle le bras porte-pinces est muni de deux pinces.
The invention is described below with the accompanying drawing in which an embodiment is shown. On this drawing ;
  • Figures 1, 2 and 3 are front views schematically illustrating a machine provided with a device according to the invention in the succession of tool extraction or insertion positions;
  • Figure 4 is a top view of the same machine with the automatic changer in the position shown in dotted lines in Figure 3;
  • Figures 5 and 6 are front views illustrating the positions of the device when the clamp is empty;
  • Figures 7 and 8 are front and top views illustrating a variant in which the clamp holder arm is provided with two clamps.

En se reportant à ces figures, on voit que le dispositif est particulièrement conçu pour une machine dans laquelle la tête porte-broche 1 est montée sur un chariot 2 coulissant horizontalement par les glissières 3 sur une console 4 elle-même coulissant verticalement sur un montant ou bâti latéral 5, l'ensemble étant placé devant la table 6.Referring to these figures, it can be seen that the device is particularly designed for a machine in which the spindle head 1 is mounted on a carriage 2 sliding horizontally by the slides 3 on a console 4 itself sliding vertically on an upright or side frame 5, the assembly being placed in front of the table 6.

En 7 est représentée, sur la figure 1, la potence portant les organes de commande 8 de la machine. On voit l'importance qu'il y a à maintenir dégagé le côté du chariot 2 opposé au bâti latéral 5, côté qui doit rester accessible à l'opérateur commandant la machine au moyen des commandes 8.In 7 is shown in Figure 1, the bracket carrying the control members 8 of the machine. We can see the importance of keeping the side of the carriage 2 opposite the side frame 5 clear, which side must remain accessible to the operator controlling the machine by means of the controls 8.

Le dispositif de changement automatique d'outil de l'invention est prévu pour opérer sur broche en position verticale, outil vers le bas.The automatic tool change device of the invention is intended to operate on a spindle in the vertical position, tool down.

Il se compose d'un bras 9 porte-pince 10 et des moyens de pivotement et de translation dudit bras dans un plan vertical unique 11 (figure 4), situé entre la table 6 et le montant fixe 5.It consists of an arm 9 clamp holder 10 and means for pivoting and translating said arm in a single vertical plane 11 (FIG. 4), located between the table 6 and the fixed upright 5.

La position du plan 11 est de préférence choisie de façon à contenir l'axe de la broche 12 en position verticale lorsque le chariot 2 est en fin de course arrière, ledit chariot venant se caler dans cette position pour l'opération de changement d'outil.The position of the plane 11 is preferably chosen so as to contain the axis of the spindle 12 in the vertical position when the carriage 2 is at the end of the rear stroke, said carriage coming to stall in this position for the operation of changing tool.

Le bras porte-pince 9 est monté pivotant autour de l'axe horizontal 13 perpendiculaire au plan 11 et l'axe 13 est lui-même monté sur un chariot 14 qui coulisse horizontalement et parallèlement au plan 11 sur un support fixe 26, approximativement au niveau que prend la collerette 16 du porte-outil 15 lorsque la broche 12 est en position verticale vers le bas.The gripper arm 9 is pivotally mounted around the horizontal axis 13 perpendicular to the plane 11 and the axis 13 is itself mounted on a carriage 14 which slides horizontally and parallel to the plane 11 on a fixed support 26, approximately at level taken up by the collar 16 of the tool holder 15 when the spindle 12 is in the vertical position downwards.

Au bras porte-pince 9 est associé un magasin 17 constitué pour présenter les porte-outils 15 à un poste de changement 18 dans lequel l'axe du porte-outil est vertical, l'outil vers le haut, le cône 19 vers le bas et la collerette 16 au niveau de la translation horizontale de la pince 10.Associated with the gripper arm 9 is a magazine 17 formed to present the tool holders 15 to a changing station 18 in which the axis of the tool holder is vertical, the tool upwards, the cone 19 downwards and the flange 16 at the level of the horizontal translation of the clamp 10.

La longueur de bras séparant la pince 10 de l'axe 13 est choisie en corrélation avec l'angle du cône 19 du porte-outil 15 de telle sorte, que le porte-outil pénètre sans frottement dans la broche 12 de la machine et/ou dans la case du magasin 17 situéeà l'emplacement 18. Cette condition impose une longueur minimum qui peut être dépassée.The arm length separating the clamp 10 from the axis 13 is chosen in correlation with the angle of the cone 19 of the tool holder 15 so that the tool holder penetrates without friction into the spindle 12 of the machine and / or in the store box 17 located at location 18. This condition imposes a minimum length which can be exceeded.

Dans l'exemple représente, le magasin 17 a la forme d'un plateau circulaire, rotatif selon un axe vertical 20, et portant à sa périphérie des alvéoles 21 destinées à recevoir les porte-outils 15. En variante, le magasin peut être réalisé sous la forme d'une chaîne dont les maillons portent les alvéoles 21. La variante en forme de plateau tournant convient pour un magas.in pouvant contenir jusqu'à 30 - 40 outils ; au-delà de ce nombre et notamment pour un magasin de l'ordre de 100 outils ou davantage, la variante en forme de chaîne (connue en soi et non représentée) est préférable pour limiter l'encombrement.In the example shown, the magazine 17 has the shape of a circular plate, rotatable about a vertical axis 20, and carrying at its periphery cells 21 intended to receive the tool holders 15. As a variant, the magazine can be produced in the form of a chain, the links of which carry the cells 21. The variant in the form of a turntable is suitable for a magazine which can contain up to 30 - 40 tools; beyond this number and in particular for a magazine of the order of 100 tools or more, the chain-shaped variant (known per se and not shown) is preferable in order to limit the size.

La séquence des mouvements du dispositif de l'invention est la suivante :

  • Le chariot 2 étant en position arrière et le changeur d'outil dans la position d'attente de la figure 6, le chariot 14 est déplacé par translation vers la broche 12 jusqu'à ce que la pince 10 vienne en prise avec la collerette 16 du porte-outil 15 (figure 1).
The sequence of movements of the device of the invention is as follows:
  • The carriage 2 being in the rear position and the tool changer in the standby position of FIG. 6, the carriage 14 is moved in translation towards the spindle 12 until the clamp 10 comes into engagement with the flange 16 of the tool holder 15 (Figure 1).

Par une rotation du bras 9 vers le bas, le porte-outil 15 est complètement dégagé de la broche (figure 2).By rotating the arm 9 downward, the tool holder 15 is completely disengaged from the spindle (FIG. 2).

Une translation du chariot 14 vers le magasin 17 place l'axe 13 dans une position permettant la rotation du bras 9 sans interférence avec le chariot 2 (figure 3).A translation of the carriage 14 towards the magazine 17 places the axis 13 in a position allowing the rotation of the arm 9 without interference with carriage 2 (Figure 3).

La rotation du bras 9 transporte le porte-outil 15 dans l'alvéole 18 du magasin 17 (figure 3, pointillé et figure 4) (rotation de 180°).The rotation of the arm 9 transports the tool holder 15 into the cell 18 of the magazine 17 (FIG. 3, dotted line and FIG. 4) (rotation of 180 °).

Une translation du chariot 14 vers la broche 12 dégage la pince 10 de l'outil ainsi déposé dans le magasin (figure 5).A translation of the carriage 14 towards the spindle 12 releases the clamp 10 from the tool thus deposited in the magazine (FIG. 5).

Pour la mise en place d'un autre outil, placé au poste 18 par le magasin, le bras 9 subit la séquence de déplacements inverse, de la figure 5 à la figure 1, pour ensuite prendre la position d'attente de la figure 6.For the installation of another tool, placed at station 18 by the magazine, the arm 9 undergoes the reverse movement sequence, from FIG. 5 to FIG. 1, then taking the waiting position in FIG. 6 .

Dans l'exemple représenté, le bras 9 ne porte qu'une seule pince 10. Mais il va de soi que le bras 9 peut être articulé en son centre sur l'axe 13 et porter deux pinces 10 opposées. Dans ce cas, deux mouvements de translation du chariot 13 seront prévus de part et d'autre de la position principale de rotation de la figure 3.In the example shown, the arm 9 carries only a single clamp 10. But it goes without saying that the arm 9 can be articulated at its center on the axis 13 and carry two opposite clamps 10. In this case, two movements of translation of the carriage 13 will be provided on either side of the main position of rotation of FIG. 3.

Cette variante de réalisation est schématiquement représentée sur les figures 7 et 8.This variant embodiment is schematically represented in FIGS. 7 and 8.

Les mêmes organes ont les mêmes chiffres de référence que sur les figures 1 à 6. Le bras 9 est articulé en 13 en son centre et porte deux pinces 10a, 10b symétriques par rapport a l'axe 13.The same members have the same reference numbers as in FIGS. 1 to 6. The arm 9 is articulated at 13 at its center and carries two clamps 10a, 10b symmetrical with respect to the axis 13.

Dans cette variante, la translation du bras 9 occupe trois positions principales, l'une vers la broche 12 correspondant à la mise en place et au retrait des outils, l'autre vers le magasin 17 pour le dépôt et la prise d'outii, et une position centrale de rotation à 180°. Dans les deux positions extrêmes, le bras 9 est soumis à la rotation nécessaire au dégagement de l'outil hors de la broche ou hors du magasin.In this variant, the translation of the arm 9 occupies three main positions, one towards the spindle 12 corresponding to the positioning and removal of the tools, the other towards the magazine 17 for depositing and taking up tools, and a central position of 180 ° rotation. In the two extreme positions, the arm 9 is subjected to the rotation necessary for disengaging the tool from the spindle or from the magazine.

La variante des figures 7 et 8 permet de réduire le temps de changement d'outil.The variant of FIGS. 7 and 8 makes it possible to reduce the tool change time.

Il est à noter que les branches du bras 9 portant les pinces 10a et 10b ne sont pas nécessairement symétriques par rapport à l'axe 13 et peuvent être disposées comme les branches d'un V plus ou moins ouvert, ou même d'un Y si le bras 9 comporte trois branches.It should be noted that the branches of the arm 9 carrying the clamps 10a and 10b are not necessarily symmetrical with respect to the axis 13 and can be arranged like the branches of a more or less open V, or even of a Y if the arm 9 has three branches.

L'invention prévoit, en outre les dispositions préférentielles ci-après :

  • Un détecteur placé dans la pince 10 informe le système de commande de pivotement du bras 9 de la présence ou de l'absence d'un porte-outil 15 dans ladite pince lorsque la pince est vide, ce système de commande arrête la rotation du bras 9 de telle sorte que la pince 10 se trouve au niveau de la collerette 16 des porte-outils 15 tant sur la broche 12 que sur le poste 18 du magasin 17. Lorsqu'un porte-outil 15 est sur la pince 10, la rotation du bras 9 est autorisée selon la séquence exposée plus haut.
The invention also provides the following preferential arrangements:
  • A detector placed in the clamp 10 informs the pivoting control system of the arm 9 of the presence or absence of a tool holder 15 in said clamp when the clamp is empty, this control system stops the rotation of the arm 9 so that the clamp 10 is located at the flange 16 of the tool holders 15 both on the spindle 12 and on the station 18 of the magazine 17. When a tool holder 15 is on the clamp 10, the rotation of the arm 9 is authorized according to the sequence described above.

La forme de la pince 10 est complémentaire au profil de la collerette 16 et la pince 10 comprend un moyen élastique ou commandé (par exemple électriquement ou hydrauliquement) non représenté, assurant le serrage de la pince 10 sur la collerette 16 pendant la manipulation des outils ainsi que le desserrage automatique lorsque l'outil est serré dans la broche 12 ou déposé au poste 18 du magasin 17. La tête porte-broche 1 comprend un moyen de positionnement des porte-outils 15 selon une orientation constante par rapport à la pince 10 de façon à permettre l'introduction des lardons d'entraînement 22 de la broche 12 dans des encoches 23 prévues sur les collerettes 16. Une protubérance 24, coagissant avec l'une des encoches 23, est prévue sur la pince 10 pour la conservation de cette orientation pendant le transfert.The shape of the clamp 10 is complementary to the profile of the collar 16 and the clamp 10 comprises an elastic or controlled means (for example electrically or hydraulically) not shown, ensuring the clamping of the clamp 10 on the collar 16 during the handling of the tools as well as the automatic loosening when the tool is clamped in the spindle 12 or deposited at the station 18 of the magazine 17. The spindle holder head 1 comprises a means for positioning the tool holders 15 in a constant orientation relative to the pliers 10 so as to allow the introduction of the drive strips 22 of the spindle 12 into notches 23 provided on the flanges 16. A protuberance 24, interacting with one of the notches 23, is provided on the clamp 10 for the conservation of this orientation during the transfer.

Les alvéoles 21 du magasin ont une forme adaptée au cône 19 des porte-outils. Le magasin peut être chargé manuellement. Chaque alvéole 21 comporte en outre un élément fixe 25 (figure 1) analogue aux lardons 22 qui rend impossible l'introduction d'un porte-outils 15 dans le magasin selon une orientation autre que celle correspondant à. l'orientation de la broche 12 en position de chargement.The cells 21 of the magazine have a shape adapted to the cone 19 of the tool holders. The magazine can be loaded manually. Each cell 21 further comprises a fixed element 25 (FIG. 1) similar to the lardons 22 which makes it impossible to introduce a tool holder 15 into the magazine in an orientation other than that corresponding to. the orientation of the spindle 12 in the loading position.

Les mouvements de rotation et translation du bras 9 sont assurés par tous moyens appropriés, notamment hydrauliques. Dans l'exemple représenté, on a prévu des moteurs électriques à courant continu 27 associés à des réducteurs mécaniques entraînant des vis sans fin (ou vis à billes)..The rotational and translational movements of the arm 9 are provided by any appropriate means, in particular hydraulic. In the example shown, provision has been made for direct current electric motors 27 associated with mechanical reducers driving endless screws (or ball screws).

Ces mouvements sont de préférence asservis dans le cadre d'un système de commande numérique, et l'enchaînement en séquence des mouvements nécessaires au changement d'outil est de préférence piloté par le dispositif de programmation automatique qui assure la gestion des autres fonctions de la machine.These movements are preferably controlled as part of a digital control system, and the sequencing of the movements necessary for tool change is preferably controlled by the automatic programming device which manages the other functions of the machine.

La machine elle-même peut être de type très divers pour autant qu'elle comporte une position à broche 12 verticale permettant l'adaptation du dispositif de l'invention.The machine itself can be of a very diverse type as long as it has a vertical pin position 12 allowing the device of the invention to be adapted.

En particulier, la tête 1 peut être orientable ou non, le chariot 2 coulisser sur un bâti fixe ou sur une console mobile verticalement etc.In particular, the head 1 can be orientable or not, the carriage 2 slide on a fixed frame or on a vertically movable console etc.

Diverses variantes peuvent être adoptées sans sortir du cadre de l'invention. C'est ainsi que le plan 11, représenté dans l'exemple décrit, parallèle à l'axe de la table, peut être disposé en oblique de façon à éloigner le magasin 17 de la table.Various variants can be adopted without departing from the scope of the invention. Thus the plane 11, shown in the example described, parallel to the axis of the table, can be arranged obliquely so as to move the magazine 17 away from the table.

De même,la translation du chariot 14 peut être prévue oblique par rapport a l'horizontale pour autant que le système de pinces autorise une obliquité dans l'opération de prise de la collerette 16 du porte-outil.Similarly, the translation of the carriage 14 can be provided oblique to the horizontal provided that the clamp system allows an obliquity in the gripping operation of the flange 16 of the tool holder.

Claims (10)

1. Dispositif de changement automatique d'outil pour machine-outil comprenant une tête porte-outil montée sur un chariot coulissant horizontalement et..ayant une position à broche verticale du type dans lequel le dégagement de la broche et le transfert de l'outil se fait par rotation de porte-pinces autour d'un axe horizontal et translation horizontale de cet axe entre broche et magasin, caractérisé en ce que le dispositif comporte un seul bras (9) porte-pinces (10) dont l'axe de rotation (14) est monté sur un chariot coulissant sur un support fixe (26) selon une direction horizontale perpendiculaire à l'axe (14), l'introduction et/ou l'extraction de l'outil dans la broche d'une part et dans le magasin d'autre part se faisant par rotations de sens inverses, et le chariot (14) étant placé de telle sorte que l'ensemble des mouvements de pince se fait dans un seul plan vertical (11).1. Automatic tool change device for a machine tool comprising a tool head mounted on a horizontally sliding carriage and having a vertical spindle position of the type in which the spindle release and the transfer of the tool is done by rotation of clamp holders around a horizontal axis and horizontal translation of this axis between spindle and magazine, characterized in that the device comprises a single arm (9) clamp holders (10) whose axis of rotation (14) is mounted on a sliding carriage on a fixed support (26) in a horizontal direction perpendicular to the axis (14), the introduction and / or extraction of the tool in the spindle on the one hand and in the store, on the other hand, by rotations in opposite directions, and the carriage (14) being placed so that all of the gripper movements take place in a single vertical plane (11). 2. Dispositif selon la revendication 1, caractérisé en ce qu'il comporte des moyens pour assurer en séquence, en vue de l'extraction d'un outil, une translation horizontale du bras (9) jusqu'à engagement de la pince (10) sur le porte-outil (15) placé dans la broche (12), une rotation du bras (9) vers le bas pour dégager le porte-outil (15) de la broche (12), puis une translation de recul du chariot (14) suivie d'une rotation de 180° en sens inverse du bras (9) jusqu'à ramener le porte-outil (15) en position d'introduction dans une alvéole (18) du magasin (17), laquelle après une éventuelle translation complémentaire est suivie d'une rotation d'introduction, enfin une translation de dégagement de la pince (10) ainsi que pour assurer la séquence inverse en vue de la prise d'outil dans le magasin (17) et sa mise en place dans la broche (12).2. Device according to claim 1, characterized in that it comprises means for ensuring in sequence, for the extraction of a tool, a horizontal translation of the arm (9) until engagement of the clamp (10 ) on the tool holder (15) placed in the spindle (12), a rotation of the arm (9) downwards to disengage the tool holder (15) from the spindle (12), then a backward movement of the carriage (14) followed by a 180 ° rotation in the opposite direction of the arm (9) until the tool holder (15) is brought back into the insertion position in a cell (18) of the magazine (17), which after a possible additional translation is followed by an insertion rotation, finally a translation of release of the clamp (10) as well as to ensure the reverse sequence for taking the tool in the magazine (17) and its implementation in the spindle (12). 3. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce que le plan vertical (11) est placé de façon à contenir l'axe de la broche (12) en position verticale lorsque le chariot 2 est en fin de course arrière.3. Device according to any one of the preceding claims, characterized in that the vertical plane (11) is placed so as to contain the axis of the spindle (12) in a vertical position when the carriage 2 is at the end of the rear stroke. . 4. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce que le bras (9) porte plusieurs pinces (10).4. Device according to any one of the preceding claims, characterized in that the arm (9) carries several clamps (10). 5. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce que la longueur de bras séparant la pince (10) de l'axe (13) est choisie en corrélation avec l'angle du cône (19) du porte-outil (15) de telle sorte que le porte-outil pénètre sans frottement dans la broche (12) de la machine et/ou dans la case du magasin (17) si tuée a l'emplacement (18).5. Device according to any one of the preceding claims, characterized in that the length of arm separating the clamp (10) from the axis (13) is chosen in correlation with the angle of the cone (19) of the tool holder (15) so that the tool holder penetrates without friction into the spindle (12) of the machine and / or into the magazine box (17) if killed at the location (18). 6. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce que la pince (10) comprend un détecteur de présence d'outil agissant sur le système de commande du pivotement du bras (9).6. Device according to any one of the preceding claims, characterized in that the clamp (10) comprises a tool presence detector acting on the system for controlling the pivoting of the arm (9). 7. Dispositif selon la revendication 6, caractérisé en ce que, lorsque la pince (10) est vide le système de commande du pivotement du bras (9) arrête celui-ci dans une position où la pince (10) est au niveau de la collerette (16) des porte-outils (15) sur la broche (12) ou le magasin (17).7. Device according to claim 6, characterized in that, when the clamp (10) is empty the system for controlling the pivoting of the arm (9) stops the latter in a position where the clamp (10) is at the level of the flange (16) of the tool holders (15) on the spindle (12) or the magazine (17). 8. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce que la tête (1) portant la broche (12) comporte des moyens pour positionner les porte-outils (15) selon une position constante par rapport à la pince (10), et les collerettes (16) des porte-outils (15) comprennent des encoches (23) coagissant avec des lardons (22) portés par la broche (12), avec une protubérance (24) prévue dans la pince (10) et avec au moins un élément fixe (25) prévu dans chaque alvéole (21) du magasin (17).8. Device according to any one of the preceding claims, characterized in that the head (1) carrying the spindle (12) comprises means for positioning the tool holders (15) in a constant position relative to the pliers (10 ), and the flanges (16) of the tool holders (15) include notches (23) coagulating with lardons (22) carried by the spindle (12), with a protuberance (24) provided in the clamp (10) and with at least one fixed element (25) provided in each cell (21) of the store (17). 9. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce que les mouvements de rotation et translation du bras (9) sont asservis par tous moyens appropriés et l'enchaînement en séquence des mouvements nécessaires au changement d'outil est piloté par le dispositif de programmation automatique qui assure la gestion des autres fonctions de la machine.9. Device according to any one of the preceding claims, characterized in that the rotational and translational movements of the arm (9) are controlled by any appropriate means and the sequencing in sequence of the necessary movements when the tool is changed, it is controlled by the automatic programming device which manages the other functions of the machine. 10. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce que le bras (9) est articulé en son centre et comporte deux pinces (10) symétriques par rapport à l'axe de rotation (13), le mouvement de rotation de 180° du bras (9) ayant lieu en une position centrale de part et d'autre de laquelle ont lieu les mouvements de translation et de rotation pour la prise et le dégagement des outils.10. Device according to any one of the preceding claims, characterized in that the arm (9) is articulated at its center and comprises two clamps (10) symmetrical with respect to the axis of rotation (13), the rotational movement 180 ° of the arm (9) taking place in a central position on either side of which the translational and rotational movements take place for gripping and releasing the tools.
EP82401223A 1981-08-12 1982-06-30 Automatic tool changing apparatus for machine tools Expired EP0073687B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT82401223T ATE12601T1 (en) 1981-08-12 1982-06-30 AUTOMATIC TOOL CHANGER FOR A MACHINE TOOL.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8115587A FR2511283A1 (en) 1981-08-12 1981-08-12 AUTOMATIC TOOL CHANGE DEVICE FOR MACHINE TOOL
FR8115587 1981-08-12

Publications (2)

Publication Number Publication Date
EP0073687A1 true EP0073687A1 (en) 1983-03-09
EP0073687B1 EP0073687B1 (en) 1985-04-10

Family

ID=9261407

Family Applications (1)

Application Number Title Priority Date Filing Date
EP82401223A Expired EP0073687B1 (en) 1981-08-12 1982-06-30 Automatic tool changing apparatus for machine tools

Country Status (5)

Country Link
EP (1) EP0073687B1 (en)
AT (1) ATE12601T1 (en)
DE (1) DE3262976D1 (en)
ES (1) ES266901Y (en)
FR (1) FR2511283A1 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4700452A (en) * 1984-12-28 1987-10-20 Maho Aktiengesellschaft Tool magazine
FR2608487A1 (en) * 1986-04-09 1988-06-24 Graffenstaden Improvements to tool changers
EP0401719A2 (en) * 1989-06-09 1990-12-12 Gebr. Heller Maschinenfabrik GmbH Exchangeable device for a tool spindle bearer for a machine tool
BE1005442A3 (en) * 1991-10-14 1993-07-27 Pegard Productics En Abrege Pe Method and system for machining long elements, notably aeronautical metalelements

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3263300A (en) * 1963-12-30 1966-08-02 Motch Merryweather Machinery Automatic tool change arrangement
FR1507373A (en) * 1966-11-18 1967-12-29 G S P Guillemin Sergot Pegard Method and mechanism for automatic tool change on a machine tool
FR1556441A (en) * 1967-02-04 1969-02-07
GB1166193A (en) * 1967-04-24 1969-10-08 Monarch Machine Tool Co Improvements in or relating to Machine Tools
US3932924A (en) * 1971-07-16 1976-01-20 Doall Company Method of changing tools
FR2348013A1 (en) * 1976-04-15 1977-11-10 Ernault Somua H Tool change for NC vertical mill - has cam tracks on spindle head to mechanically operate arm transferring tool from magazine

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3263300A (en) * 1963-12-30 1966-08-02 Motch Merryweather Machinery Automatic tool change arrangement
FR1507373A (en) * 1966-11-18 1967-12-29 G S P Guillemin Sergot Pegard Method and mechanism for automatic tool change on a machine tool
FR1556441A (en) * 1967-02-04 1969-02-07
GB1166193A (en) * 1967-04-24 1969-10-08 Monarch Machine Tool Co Improvements in or relating to Machine Tools
US3932924A (en) * 1971-07-16 1976-01-20 Doall Company Method of changing tools
FR2348013A1 (en) * 1976-04-15 1977-11-10 Ernault Somua H Tool change for NC vertical mill - has cam tracks on spindle head to mechanically operate arm transferring tool from magazine

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4700452A (en) * 1984-12-28 1987-10-20 Maho Aktiengesellschaft Tool magazine
FR2608487A1 (en) * 1986-04-09 1988-06-24 Graffenstaden Improvements to tool changers
EP0401719A2 (en) * 1989-06-09 1990-12-12 Gebr. Heller Maschinenfabrik GmbH Exchangeable device for a tool spindle bearer for a machine tool
EP0401719A3 (en) * 1989-06-09 1991-03-20 Gebr. Heller Maschinenfabrik GmbH Exchangeable device for a tool spindle bearer for a machine tool
BE1005442A3 (en) * 1991-10-14 1993-07-27 Pegard Productics En Abrege Pe Method and system for machining long elements, notably aeronautical metalelements

Also Published As

Publication number Publication date
ES266901Y (en) 1983-08-16
FR2511283B1 (en) 1984-08-17
FR2511283A1 (en) 1983-02-18
ATE12601T1 (en) 1985-04-15
DE3262976D1 (en) 1985-05-15
ES266901U (en) 1983-02-16
EP0073687B1 (en) 1985-04-10

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